OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e - #376

Merged

andrewjong merged 28 commits into

developfrom

johnliu/optitrack-isaac-wrapper

Aug 17, 2026

Commits on Aug 16, 2026

feat(sim): Isaac wrapper for the NatNet emulator (USD scene → server)

JohnYanxinLiu
and
claude
committed
c6063db
test(natnet): dedicated OptiTrack sim e2e (optitrack mark)

JohnYanxinLiu
and
claude
committed
21e6000
docs(natnet): emulator sim doc + optitrack-development skill

JohnYanxinLiu
and
claude
committed
323e203
chore: bump version to 0.19.0-alpha.16
JohnYanxinLiu
committed
f1f8290
fix(sim): register the NatNet emulator via the Kit ext-folder

JohnYanxinLiu
and
claude
committed
6a808bf
make the sim actually fuse the mocap stream

JohnYanxinLiu
and
claude
committed
fe3fc72
fly a circle on mocap fusion instead of asserting a topic exists

JohnYanxinLiu
and
claude
committed
5e9bf19
enforce only the mocap circle flight on PR open

JohnYanxinLiu
and
claude
committed
6f647f5
add an isaac natnet mocap override

JohnYanxinLiu
and
claude
committed
29c64c8
install the natnet emulator as a real Kit extension

JohnYanxinLiu
and
claude
committed
80d5f2f
set the streamed body in the script, not the environment

JohnYanxinLiu
and
claude
committed
5993548
comment trim on isaac-sim docker compose
JohnYanxinLiu
committed
1e6f79f
point the isaac-sim env blocks at their documentation
JohnYanxinLiu
committed
4bad960
comment trim on editable installation of natnet emulator
JohnYanxinLiu
committed
92da44f
keep the full default test run on PR open
JohnYanxinLiu
committed
89e1e09
wait for a converged estimate before arming in the optitrack e2e
JohnYanxinLiu
committed
8bb38ba
comment trim on optitrack e2e collection ordering
JohnYanxinLiu
committed
d984111
comment trim on the PR-open test args
JohnYanxinLiu
committed
8af9e98
rename the isaac natnet override to isaac-optitrack-simulation.env
JohnYanxinLiu
committed
c9e9681
select PX4 SITL parameters with a named env_file
JohnYanxinLiu
committed
c0157af
comment trim in compose file
JohnYanxinLiu
committed
9e1fed3
trim verbose comments in the natnet sources

JohnYanxinLiu
and
claude
committed
5094a7e
removed comment change
JohnYanxinLiu
committed
01f0867
drop the GPS origin change from the baseline pegasus launch script

JohnYanxinLiu
and
claude
committed
0fcb102
assert the external-vision params actually reached the FCU

JohnYanxinLiu
and
claude
committed
aad472a

Commits on Aug 17, 2026

docs(natnet): publish the emulator page and correct the setup examples

JohnYanxinLiu
and
claude
committed
f3b3359
feat(natnet): the extension owns the server, tied to the sim timeline

JohnYanxinLiu
and
claude
committed
02da092
docs trim
JohnYanxinLiu
committed
d0a0863

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OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e - #376

OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e#376
andrewjong merged 28 commits into
developfrom
johnliu/optitrack-isaac-wrapper

Commits on Aug 16, 2026

feat(sim): Isaac wrapper for the NatNet emulator (USD scene → server)

test(natnet): dedicated OptiTrack sim e2e (optitrack mark)

docs(natnet): emulator sim doc + optitrack-development skill

chore: bump version to 0.19.0-alpha.16

fix(sim): register the NatNet emulator via the Kit ext-folder

make the sim actually fuse the mocap stream

fly a circle on mocap fusion instead of asserting a topic exists

enforce only the mocap circle flight on PR open

add an isaac natnet mocap override

install the natnet emulator as a real Kit extension

set the streamed body in the script, not the environment

comment trim on isaac-sim docker compose

point the isaac-sim env blocks at their documentation

comment trim on editable installation of natnet emulator

keep the full default test run on PR open

wait for a converged estimate before arming in the optitrack e2e

comment trim on optitrack e2e collection ordering

comment trim on the PR-open test args

rename the isaac natnet override to isaac-optitrack-simulation.env

select PX4 SITL parameters with a named env_file

comment trim in compose file

trim verbose comments in the natnet sources

removed comment change

drop the GPS origin change from the baseline pegasus launch script

assert the external-vision params actually reached the FCU

Commits on Aug 17, 2026

docs(natnet): publish the emulator page and correct the setup examples

feat(natnet): the extension owns the server, tied to the sim timeline

docs trim